EP1101725B1 - Apparatus for the automated transfer of loads - Google Patents

Abstract

The lifting unit is part of a rigid load guide (4). Between this and the lifting traverse (5) there is a cylinder pair (7.1, 7.2). The cylinders are jointed to support relative movement and swinging of the lifting traverse relative to the load guide. Sensors are provided to measure the orientation of the lifting traverse relative to the spreader (2) and/or to the load guide in each position.

Description

The invention relates to a device for automated handling of Load handling devices of a handling device, in particular loads of ISO containers, using a spreader, the corners of which are over four axial sliding pendulum supports with the substantially horizontally extending Support frame of a lifting beam are connected, which in turn in the area of their Corner points are suspended on four ropes of a hoist.

From the German patent application 1 556 324 is a spreader for the envelope of containers become known, which the generic features of includes the present invention. The aim of the known solution was to set up a facility to create the container, which then also in the corresponding Locking parts of the container intervenes when it is on an uneven surface stands or is twisted. There are various measures Proposed, among other things, is to use the spreader with pendulum supports to connect the lifting beam and this axially compared to the lifting beam to make it movable. According to the statements in the generic script a flexible connection is thus achieved, which ensures that the spreader can better adapt to the container.

To automate the use of a stacking crane, it is one Prerequisite to automate the handling of the load. Automated container terminals are known per se, there are different ones Load suspension devices are used for the given at these terminals special conditions and not on other terminals are transferable. The spreaders, which are also equipped with lifting beams either the disadvantage of the high weight or the large height. at normal container terminals with stack heights of three or four high every additional meter height of a crane runway support disproportionate costs for the Terminal. Added to this are complex design and manufacturing costs for well-known lifting beams that need to be reduced.

The object of the present invention is therefore to provide a device for to create automated handling of in particular ISO containers that are under Use of a lifting traverse of the generic type assigned to the spreader Art guaranteed a safe automatic use of the spreader and thereby is simple and reliable and can therefore be used cost-effectively can.

To achieve the object, the generic device is improved by that the hoist is part of a rigid load management, being between the load management and the lifting traverse as both a torque support and the displacement and Swiveling of the lifting crossbar relative to the pair of cylinders used for load control is articulated and that sensors are provided with which the relative orientation the lifting traverse to the spreader and / or to the load control can be detected in any position.

In the device according to the invention, the use of a handling device provided with rigid load control as load control, which the horizontal forces that can arise when handling loads. Rigid load guides are coming for example in the form of rope fields of a crane trolley, quadruple frame guides by Straddle Carriers or as vertical guidance of a beam in one Container stacking crane in front. Arranged between the load guide and the lifting beam Cylinder pairs enable a longitudinal and angular adjustment of the lifting traverse relative for load control and allow a horizontal movement and a tilting movement of the Lifting crossbar in the transverse and longitudinal direction. All movements of the lifting beam are detected by a sensor system and displayed or processed.

The pair of cylinders is advantageously arranged in such a way that the two piston-cylinder units the sides of one at least when retracted describe isosceles triangle, in the area of its tip both cylinders the lifting beam is articulated while the opposite ends of the piston-cylinder units on both sides of the load control in a common horizontal Are hinged level. In this way, the cylinder pairs can also act as a moment support, the fixed points of two articulated bearings on the Load management and a pair of spherical bearings on the lifting crossbar. The Cylinder pairs are preferably operated via a central hydraulic system, whereby the Correction of the rotary and longitudinal axes for the fine positioning of the spreader for Container or the container to the destination (e.g. truck loading frame) is possible. The Fine positioning of the lifting crossmember in the transverse direction is preferably carried out with the Crane cat ride of the handling device.

According to a favorable embodiment, the pair of cylinders consists of double-acting Single cylinders that are firmly connected to each other at their base flanges. This makes it easy to control the individual cylinders.

It is particularly favorable if the load is guided by the vertically guided load a corresponding handling device is formed, on which the lifting crossbar in Transverse direction is supported by a guide extending in its longitudinal direction. As a result, the lifting traverse is relative to the load in the transverse direction, i.e. in The direction of travel of the cat is fixed, while shifting in the longitudinal direction is possible is. The guide can also be used as a guide rail for one end of the guide roller arranged, rotatable about a horizontal axis roller to be formed on Rollable side support rollers are assigned to the flanks of the guide rail, wherein the treads of the roller and the support rollers are spherical. Consequently forms the running rail running in the center of the lifting beam and the Support roller unit, with the horizontally acting roller and the two smaller, symmetrically arranged guide rollers the bearing point of the load guide. The crowned design of the treads serves for a relative turning of the lifting traverse to enable the load control. In the longitudinal direction of the lifting beam, i.e. in Direction of travel of the bridge is a displacement of the lifting crossbar compared to the Load guidance possible by approx. ± 500 mm. About the axis of rotation of the load control, i.e. around the longitudinal axis of the device allows pivoting of approximately ± 5 °.

The cylinder pairs are attached to the load guide on both sides and allow the lifting of the spreader to bring the device into a defined zero position.

As with the prior art, the spreader is attached to the with four pendulum supports Hub traverse connected. Are located between the lifting beam and spreader a further embodiment oriented transversely and longitudinally to the spreader, as Damper insertable piston-cylinder units that are essentially horizontal are arranged and their cylinder spaces when placing the spreader on the Containers can be switched without pressure. These piston-cylinder units act as fixing and damper elements, which is one end of the respective cylinder pairs Spherical bearing connected to the lifting beam while the other end is connected to the spreader is stored. There are preferably two pairs of cylinders in the direction of travel of the cat Arranged near the suspension points of the pendulum supports, while a pair of cylinders in The direction of travel of the bridge is centered in the longitudinal direction of the spreader.

Depending on the wind load acting on the load, targeted hydraulic pressure in the cylinder pairs to dampen the movement. The Relative movement between the lifting traverse and the spreader in response to that Place the spreader on the container or the container on the target point is made possible by the activation of the cylinder pairs. The horizontal adjustment path the spreader axes in the longitudinal and transverse directions are ± 200 mm for each axis, this is ensured by the mechanical end positions of the piston and Piston rods of the respective pairs of cylinders.

There is also a mechanical stop between the lifting beam and spreader provided with which the vertical clearance between the components can be limited. This should preferably be approx. 200 mm between the lifting traverse and spreader. After a vertical stroke of approximately 210 mm, the mechanical stop takes place is that the weight of the lifting traverse and load guide is derived statically safely. The stop also serves to place the lifting crossbar on the spreader when joint transportation of the two parts.

According to a further embodiment, the complete hydraulic system is electrical Control as well as the data communication of the spreader and the lifting crossbar arranged the spreader. All hydraulic cylinders are powered by the Power Pack of the Spreaders supplied. Quick release couplings for the hydraulic hoses and Plugs for the cable connections form a clear interface and ensure a quick and easy exchange of the spreader, even with different ones Makes.

All orientations of the spreader in relation to the lifting crossbeam are electronic detectable and evaluable. In addition, the spreader with all for the automatic Operation necessary sensors equipped, all positions of the spreader electronically record, report and perform the evaluation, including inclination and Tilting of the spreader in the direction of bridge and trolley travel during delivery and Picking up the container.

The spreader is preferably aligned in the direction of the bridge and trolley about the electronically determined relative movement of the pendulum supports compared to the Suspension of the lifting crossbar detected. On the spreader is below Pendulum support mounting provided an elastic stop, so that the pendulum rod cannot slip through when unloaded. This creates between the upper end of the pendulum support and the lifting crosshead a relative movement when the spreader moves relative to the lifting beam. This vertical relative movement is called Signal recorded and evaluated.

In addition, to prevent rotation of the lifting crossbar in the area of Corners connected ropes the rope ends in cuboid rope connections added, with an adjustment device in the form of Intermediate washers for the adjustment of the hoist rope length is provided.

The novel device can complement conventional spreaders such that it are automatable. The manufacturing costs of the novel device are relatively low, the design effort for the device and the bearing points on Spreader is low.

Figur 1

die erfindungsgemäße Vorrichtung in der Vorderansicht,

Figur 2

eine Seitenansicht der erfindungsgemäßen Vorrichtung,

Figur 3

eine Detailansicht aus Figur 2,

Figur 4

eine Draufsicht auf die erfindungsgemäße Vorrichtung,

Figur 5

die Darstellung nach Figur 4 in drei Phasen A, B, C,

Figur 6

die Vorrichtung nach Figur 5 in verschiedenen Schwenkstellungen,

Figur 7

den Umschlagvorgang in der Vorderansicht,

Figur 8

den Umschlagvorgang in der Seitenansicht,

Figur 9

eine Draufsicht auf die erfindungsgemäße Vorrichtung in zwei Schwenkstellungen,

Figur 10

Vorder- und Seitenansicht eines fehlgeschlagenen Umschlagvorganges, und

Figur 11

die erfindungsgemäße Vorrichtung in der Service-Stellung.

An embodiment of the invention is shown in the drawing and described below. It shows:

Figure 1

the device according to the invention in front view,

Figure 2

a side view of the device according to the invention,

Figure 3

2 shows a detailed view from FIG. 2,

Figure 4

a plan view of the device according to the invention,

Figure 5

4 in three phases A, B, C,

Figure 6

5 in different pivot positions,

Figure 7

the handling process in the front view,

Figure 8

the handling process in side view,

Figure 9

a plan view of the device according to the invention in two pivot positions,

Figure 10

Front and side view of a failed envelope, and

Figure 11

the device according to the invention in the service position.

1 shows a front view of the novel device 1 with the spreader 2 shown. Four lifting ropes 3 are attached to the top of the lifting traverse 5, while for rigid load guidance in the middle of the lifting beam 5, a load guidance 4 acts. The actual device 1 according to the invention consists of the lifting crossbeam 5, the pendulum supports 6, the upper thrust and swivel plane 7, the lower lengthways acting thrust plane 8 with the cylinder pair 8.1 and the lower, transverse acting Thrust plane 9 with the cylinder pairs 9.1 and 9.2. You can also see in figure 1 the spreader 2, the corner guide 2.1, the brackets 2.2, the power pack 2.4, the Lifting ropes 3 and the load guide 4. The two brackets 2.2 on the top of the Spreaders 2 are intended as an end stop for the lifting traverse.

In Figure 2, the same parts are the same in the side view of the novel device 1 designated. The tubular corner points 5.1 open on the longitudinal side of the lifting beam take the lifting ropes 3 and the pendulum supports 6 each in special positions. The Fixed rope points 10 at the upper end of the corner points 5.1 form the receptacle for the Lifting ropes 3. The ball heads 6.1 of the tie rods 6 at the lower end of the corner points 5.1 and on the base steel structure of the spreader 2.3 are stored in divided calottes 11. The Stop 12 below the pendulum support 6 prevents the same from slipping.

The components can be seen better in an enlarged detailed illustration in FIG. The fixed rope point 10 consists of a cuboid molded rope connection 13 with funnel-shaped split cable sleeve 14, the slotted shims 15 and the divided end plate 16. The cuboid rope connection lies with a Side surface on an anti-rotation device 5.2. In the center of the lifting beam 5 forms a track rail 5.3 and a support roller unit, consisting of a roller 17 and two support rollers 18 the bearing point of the load guide 4. The lifting of the load guide 4 the safety bracket 19 prevents the lifting crossbeam 5.

In Figure 4 the novel device 1 is in its starting position, i.e. in the Represented zero position. The spreader 2, the load guide 4, can be seen Lifting traverse 5 and the upper thrust and swivel plane 7. The cylinder pairs 7.1 and 7.2 of the thrust and swivel plane are at the cylinder fixed point 4.1 of the load guide and stored at the cylinder fixed point 5.4 of the lifting traverse. The side of the lifting beam open tubular corner points 5.1 take the lifting ropes 3 and the pendulum supports 6 on. The sensor system (not shown) for the vertical position detection of the pendulum supports 6 is also located in the tubular corner point of the lifting beam 5. In The center of the lifting crossmember 5 forms the running rail 5.3 and the support roller unit Bearing point of the load guide 4.

The illustration in FIG. 5 shows in the starting position A the zero position of the Contraption. Of the pairs of cylinders 7.1 and 7.2, those are in the middle Cylinder extended to the block. Position B with the relative horizontal offset between load guide 4 and lifting beam 5 of + x is achieved when all cylinders are up to are extended on a block. Position C with the relative horizontal offset between load guide 4 and lifting beam 5 of -x is achieved when all cylinders are up to entered on block. During the horizontal displacement process, the roller 17 rolls, held laterally by the two support rollers 18 on the running rail 5.3.

In Figure 6, the novel device 1 is also in its zero position, i.e. in your Starting position A shown. Of the cylinder pairs 7.1 and 7.2 are each the cylinder lying in the middle is extended to the block. The position D with the relative Pivotal movement between the load guide 4 and the lifting beam 5 of + y reached when the upper cylinder lying to the center except for the block and the lower one to the The cylinder in the middle is extended to a limited extent. The position E with the relative Swiveling movement between load guide 4 and lifting beam 5 from -y is achieved, if the lower cylinder lying to the center except for the block and the upper cylinder to the middle horizontal cylinder is extended to a limited extent. With these swiveling movements it is the same the roller 17, held laterally by the two support rollers 18, the relative movement to track 5.3. If necessary, the support rollers 18 can be supported resiliently be pressed against the running rail 5.3. An overlay of movements Figure 5 and 6 is possible.

FIG. 7 shows the handling process in a front view. The sketch shows the novel device 1 in its zero position, i.e. in the starting position A. Von the pair of cylinders 8.1 and the lower longitudinal thrust plane 8 is the middle horizontal cylinders extended to the block. The position F with the relative Horizontal offset between spreader 2 and lifting beam 5 is reached if both Cylinders are extended to the block. The position G with the relative Horizontal offset between the spreader 2 and the lifting traverse 5 is reached if both Cylinders are retracted to the block. The possible relative horizontal offset between zero position and positions F and G can be done by targeted hydraulic Pressure in the cylinder pairs can be damped, depending on the wind force on the Device 1 acts the spreader 2 and the container 20.

FIG. 8 shows the handling process in a side view. Of the Cylinder pairs 9.1 and 9.2 of the lower, transversely acting thrust plane 9 are each one Cylinder extended to the block. The position H with the relative horizontal offset between spreader 2 and lifting beam 5 is reached when both cylinders except for block are retracted. The position J with the relative horizontal offset between Spreader 2 and lifting traverse 5 is reached when both cylinders except for block are extended. The possible relative horizontal offset between zero and positions H and J can be adjusted by hydraulic pressure in the Cylinder pairs are damped depending on the wind force on the device acts. The movements from FIGS. 7 and 8 can be superimposed. A The movements from FIGS. 5/6 and 7/8 can also be superimposed (Tilting movement of the lifting crossmember in the transverse and longitudinal directions).

FIG. 9 shows a top view of the device according to the invention, specifically in FIG Position K with a relative pivoting movement between spreader 2 and Lifting beam 5 from + z. It arises when all cylinders of cylinder pairs 9.1 and 9.2 the lower, transverse thrust plane 9 are extended to the block. The sketch shows the position L with a relative pivoting movement between spreader 2 and Lifting beam 5 from -z. It arises when all the cylinders of the cylinder pairs 9.1 and 9.2 the lower, transversely acting thrust plane 9 are retracted to the block.

Figure 10 shows the front and side view of a handling process, in particular the function of sensory monitoring of the handling process. In which Attempt to pick up an incorrectly placed container 20 reported Sensor, activated by the vertically shifted pendulum support 6 in the tube-like Point 5.1 a malfunction. The corner guides 2.1 of the spreader 2 were not in able to compensate for the large offset. The handling process was canceled. The relieved pendulum support 6 is based on this process Stop 12 of the spreader 2.

FIG. 11 shows the novel device 1 and the spreader 2 in a service position. The spreader 2 stands on its corner guide 2.1. Load control 4 and Hubtraverse 5 of the device are based on a total of 4 brackets 2.2, which are are on the top of the spreader. The hydraulics of the cylinder pairs 8.1, 9.1 and 9.2 is switched to the floating position in this situation. The exonerated Pendulum supports 6 rest on the stops 12 of the spreader. In this position if necessary, the device 1 detached from the load guide 4 and the lifting cables 3 become. The device and spreader then form an easily manageable Transport unit.

Claims (11)

1. Apparatus for the fully automated transfer of loads fixed to load-lifting means of a transfer appliance, in particular of ISO containers, by means of a spreader (2) whose corners are connected via four axially displaceable self-aligning supports (6) to the substantially horizontally extending loadbearing frame of a lifting crossmember (5) which, for its part, is suspended in the region of its corner points on four cables belonging to a hoist, characterized in that the hoist is part of a rigid load guide (4), a pair of cylinders (7.1; 7.2) which serve both as a torque support and for displacing and pivoting the lifting crossmember with respect to the load guide being attached between the load guide and the lifting crossmember (5), and in that sensors are provided with which the relative alignment of the lifting crossmember (5) in relation to the spreader (2) and/or to the load guide (4) can be registered in any position.
2. Apparatus for automatic transfer according to Claim 1, characterized in that the pair of cylinders (7.1; 7.2) is arranged in such a way that the two piston-cylinder units, at least in the retracted state, describe the sides of an equilateral triangle, in the region of whose point (5.4) both cylinders (7.1; 7.2) are attached to the lifting crossmember (5), while the opposite ends of the piston-cylinder units (7.1; 7.2) on both sides of the load guide (4) are fixed in an articulated manner in a common horizontal plane (7).
3. Apparatus for automatic transfer according to Claim 2, characterized in that the pair of cylinders (7.1; 7.2) comprises double-acting individual cylinders, which are firmly connected to each other at their bottom flanges.
4. Apparatus for automatic transfer according to Claims 1 to 3, characterized in that the load guide (4) is formed by the vertically guided load guide (beam) of an appropriate transfer appliance, on which the lifting crossmember (5) is supported in its transverse direction by means of a guide running in its longitudinal direction.
5. Apparatus for automatic transfer according to Claim 4, characterized in that the guide is formed as a guide rail (5.3) for a running roller (17) which is arranged at the end of the load guide (4), can rotate about a horizontal axis and to which lateral supporting rollers (18) which can roll on the flanks of the guide rail (5.3) are assigned, the running surfaces of the running roller (17) and of the supporting rollers (18) being spherical.
6. Apparatus for automatic transfer according to Claims 1 to 5, characterized in that, between the lifting crossmember (5) and spreader (2), piston-cylinder units (9.1; 9.2) which are aligned transversely and longitudinally in relation to the spreader (2) and can be used as dampers are arranged substantially horizontally, it being possible for their cylinder chambers to be depressurized when the spreader (2) is placed on the container (20).
7. Apparatus for automatic transfer according to Claims 1 to 6, characterized in that between the lifting crossmember (5) and spreader (2) there is provided a mechanical stop (2.2) with which the vertical clearance between the components can be limited.
8. Apparatus for automatic transfer according to Claims 1 to 7, characterized in that the complete hydraulic systems (power pack 2.4), the electric control system and the data communication of the spreader (2) and the lifting crossmember (5) are arranged on the spreader (2).
9. Apparatus for automatic transfer according to Claims 1 to 8, characterized in that all the alignments of the spreader (2) with respect to the lifting crossmember (5) can be registered and evaluated electronically.
10. Apparatus for automatic transfer according to Claims 1 to 9, characterized in that the alignment of the spreader (2) in the directions of travel of bridge and trolley can be registered via the electronically determined relative movement of the self-aligning supports (6) with respect to the suspension in the lifting crossmember (5).
11. Apparatus for automatic transfer according to Claims 1 to 10, characterized in that, in order to secure against rotation the cables connected to the lifting crossmember in the region of its corner points, the ends of the cables are held in box-like cable connections, and in that an adjusting device in the form of intermediate shims is provided on each cable in order to equalize the lifting cable length.

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